Fusion of aerial images and sensor data from a ground vehicle for improved semantic mapping

This work investigates the use of semantic information to link ground level occupancy maps and aerial images. A ground level semantic map, which shows open ground and indicates the probability of cells being occupied by walls of buildings, is obtained by a mobile robot equipped with an omnidirectional camera, GPS and a laser range finder. This semantic information is used for local and global segmentation of an aerial image. The result is a map where the semantic information has been extended beyond the range of the robot sensors and predicts where the mobile robot can find buildings and potentially driveable ground

Using state space differential geometry for nonlinear blind source separation

Given a time series of multicomponent measurements of an evolving stimulus, nonlinear blind source separation (BSS) seeks to find a "source" time series, comprised of statistically independent combinations of the measured components. In this paper, we seek a source time series with local velocity cross correlations that vanish everywhere in stimulus state space. However, in an earlier paper the local velocity correlation matrix was shown to constitute a metric on state space. Therefore, nonlinear BSS maps onto a problem of differential geometry: given the metric observed in the measurement coordinate system, find another coordinate system in which the metric is diagonal everywhere. We show how to determine if the observed data are separable in this way, and, if they are, we show how to construct the required transformation to the source coordinate system, which is essentially unique except for an unknown rotation that can be found by applying the methods of linear BSS. Thus, the proposed technique solves nonlinear BSS in many situations or, at least, reduces it to linear BSS, without the use of probabilistic, parametric, or iterative procedures. This paper also describes a generalization of this methodology that performs nonlinear independent subspace separation. In every case, the resulting decomposition of the observed data is an intrinsic property of the stimulus' evolution in the sense that it does not depend on the way the observer chooses to view it (e.g., the choice of the observing machine's sensors). In other words, the decomposition is a property of the evolution of the "real" stimulus that is "out there" broadcasting energy to the observer. The technique is illustrated with analytic and numerical examples.Comment: Contains 14 pages and 3 figures. For related papers, see http://www.geocities.com/dlevin2001/ . New version is identical to original version except for URL in the bylin

Safe Local Exploration for Replanning in Cluttered Unknown Environments for Micro-Aerial Vehicles

In order to enable Micro-Aerial Vehicles (MAVs) to assist in complex, unknown, unstructured environments, they must be able to navigate with guaranteed safety, even when faced with a cluttered environment they have no prior knowledge of. While trajectory optimization-based local planners have been shown to perform well in these cases, prior work either does not address how to deal with local minima in the optimization problem, or solves it by using an optimistic global planner. We present a conservative trajectory optimization-based local planner, coupled with a local exploration strategy that selects intermediate goals. We perform extensive simulations to show that this system performs better than the standard approach of using an optimistic global planner, and also outperforms doing a single exploration step when the local planner is stuck. The method is validated through experiments in a variety of highly cluttered environments including a dense forest. These experiments show the complete system running in real time fully onboard an MAV, mapping and replanning at 4 Hz.Comment: Accepted to ICRA 2018 and RA-L 201

Don't Look Back: Robustifying Place Categorization for Viewpoint- and Condition-Invariant Place Recognition

When a human drives a car along a road for the first time, they later recognize where they are on the return journey typically without needing to look in their rear-view mirror or turn around to look back, despite significant viewpoint and appearance change. Such navigation capabilities are typically attributed to our semantic visual understanding of the environment [1] beyond geometry to recognizing the types of places we are passing through such as "passing a shop on the left" or "moving through a forested area". Humans are in effect using place categorization [2] to perform specific place recognition even when the viewpoint is 180 degrees reversed. Recent advances in deep neural networks have enabled high-performance semantic understanding of visual places and scenes, opening up the possibility of emulating what humans do. In this work, we develop a novel methodology for using the semantics-aware higher-order layers of deep neural networks for recognizing specific places from within a reference database. To further improve the robustness to appearance change, we develop a descriptor normalization scheme that builds on the success of normalization schemes for pure appearance-based techniques such as SeqSLAM [3]. Using two different datasets - one road-based, one pedestrian-based, we evaluate the performance of the system in performing place recognition on reverse traversals of a route with a limited field of view camera and no turn-back-and-look behaviours, and compare to existing state-of-the-art techniques and vanilla off-the-shelf features. The results demonstrate significant improvements over the existing state of the art, especially for extreme perceptual challenges that involve both great viewpoint change and environmental appearance change. We also provide experimental analyses of the contributions of the various system components.Comment: 9 pages, 11 figures, ICRA 201